09三機整合

三路循跡&避障（紅色字的部分）

搭配 shsps_BT_car的APP（低速、中速、快速）

#include <SoftwareSerial.h>

SoftwareSerial BT(0,1); // 接收腳(RX), 傳送腳(TX)；接HC-06之TXD、RXD；先不要用0,1,因為USB用

const int SRightRight = 2; //右紅外線感測器輸入腳

const int SMiddle = 3; //中間感測器輸入腳

const int SLeftLeft = 4; //左紅外線感測器輸入腳

const int ena = 5; //控制馬達轉速（L298N）

const int enb = 6; //控制馬達轉速（L298N）

const int motorIn1 = 7; //控制馬達正反轉（L298N）

const int motorIn2 = 8; //控制馬達正反轉（L298N）

const int motorIn3 = 9; //控制馬達正反轉（L298N）

const int motorIn4 = 10; //控制馬達正反轉（L298N）

int SLL; //左感測器狀態

int SM; //中感測器狀態

int SRR; //右感測器狀態

char val; // variable to receive data from the serial port(bluetooth)

int power; //馬達轉速 （0～255）

byte sw=1,flag=1;

byte sw2=1,flag2=1;

byte byteSensorStatus=0;

float getDistance(int trig,int echo){

pinMode(trig,OUTPUT);

digitalWrite(trig,LOW);

delayMicroseconds(2);

digitalWrite(trig,HIGH);

delayMicroseconds(10);

pinMode(echo, INPUT);

return pulseIn(echo,HIGH,30000)/58.0;

}

void setup()

{

// Serial.begin(9600);

BT.begin(9600);

pinMode(SLeftLeft, INPUT);

pinMode(SMiddle, INPUT);

pinMode(SRightRight, INPUT);

pinMode(ena, OUTPUT);

pinMode(enb, OUTPUT);

pinMode(motorIn1, OUTPUT);

pinMode(motorIn2, OUTPUT);

pinMode(motorIn3, OUTPUT);

pinMode(motorIn4, OUTPUT);

power=150;

flag = 1;

sw2 = 1;

sw = 1;

flag2 = 1;

}

void loop()

{

if(sw==0 && flag==0)

{

byteSensorStatus = 0; // 讀取感測器狀態值

SLL = digitalRead(SLeftLeft); // 讀取左感測器狀態值

if(SLL == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 2));

SM = digitalRead(SMiddle);

if(SM == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 1));

SRR = digitalRead(SRightRight); // 讀取右感測器狀態值

if(SRR == 1)

byteSensorStatus = (byteSensorStatus | 0x01);

drivemotor(byteSensorStatus);

}

if((((sw2)==(0))) & (((flag2)==(0)))){

if((getDistance(13,12)) < (15)){

backward();;

delay(1000*0.5);

if(((1)==(random(0,1)))){

left();

}else{

right();

}

delay(1000*0.5);

}

forward();

}

if(BT.available() ) {

val=BT.read();

switch(val)

{

case 'f': // car forward

forward();

break;

case 'b': // car backward

backward();

break;

case 'l': // car turn left

left();

break;

case 'r': // car turn right

right();

break;

case 's': // car stop

motorstop();

flag=1;

flag2 = 1;

break;

case 'x' :

lowspeed();

break;

case 'y' :

midspeed();

break;

case 'z' :

highspeed();

break;

case 't' :

{

if(sw==0)

{

sw=1;

}

if(sw==1)

{

sw=0;

flag=0;

}

break;

case 'n' :

if(((sw2)==(0))){

sw2 = 1;

}

if(((sw2)==(1))){

sw2 = 0;

flag2 = 0;

}

break;

}

}

}

}

void motorstop()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,power);//0停止;值介於40-255

analogWrite(enb,power);//0停止;值介於40-255

}

void forward()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,power);//0停止;值介於40-255

analogWrite(enb,power);//0停止;值介於40-255

}

void backward()

{

digitalWrite(motorIn1, HIGH);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, HIGH);

digitalWrite(motorIn4, LOW);

analogWrite(ena,power);//0停止;值介於40-255

analogWrite(enb,power);//0停止;值介於40-255

}

// Let right motor keep running, but stop left motor

void right()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,power);//0停止;值介於40-255

analogWrite(enb,power);//0停止;值介於40-255

}

// Let left motor keep running, but stop right motor

void left()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,power);//0停止;值介於40-255

analogWrite(enb,power);//0停止;值介於40-255

}

void lowspeed(){

power=90;

}

void midspeed(){

power=130;

}

void highspeed(){

power=200;

}

void drivemotor(byte nStatus){

switch(nStatus)

{ // 感測器黑色:1 (亮紅燈） 白色:0

case 0: // SL:0 SR:0 //白白

forward() ;

break;

case 1: // SL:0 SR:1 // 白黑

left();

break;

case 2: // SL:0 SR:1 //黑白

motorstop();

break;

case 3: // SL:1 SR:1 // 黑黑

left();

break;

case 4: // SL:0 SR:1 // 白黑

right();

break;

case 5: // SL:0 SR:1 //黑白

forward() ;

break;

case 6: // SL:1 SR:1 // 黑黑

right();

break;

case 7: // SL:1 SR:1 // 黑黑

motorstop();

break;

}

}

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三路循跡&避障（紅色字的部分）

搭配 shsps_BT_car2的APP（左輪＋－、雙輪＋－、右輪＋－）

#include <SoftwareSerial.h>

SoftwareSerial BT(0,1); // 接收腳(RX), 傳送腳(TX)；接HC-06之TXD、RXD；先不要用0,1,因為USB用

const int SRightRight = 2; //右紅外線感測器輸入腳

const int SMiddle = 3; //中間感測器輸入腳

const int SLeftLeft = 4; //左紅外線感測器輸入腳

const int ena = 5; //控制馬達轉速（L298N）

const int enb = 6; //控制馬達轉速（L298N）

const int motorIn1 = 7; //控制馬達正反轉（L298N）

const int motorIn2 = 8; //控制馬達正反轉（L298N）

const int motorIn3 = 9; //控制馬達正反轉（L298N）

const int motorIn4 = 10; //控制馬達正反轉（L298N）

int SLL; //左感測器狀態

int SM; //中感測器狀態

int SRR; //右感測器狀態

char val; // variable to receive data from the serial port(bluetooth)

//int power; //馬達轉速 （0～255）

double rpower;

double lpower;

byte sw=1,flag=1;

byte sw2=1,flag2=1;

byte byteSensorStatus=0;

float getDistance(int trig,int echo){

pinMode(trig,OUTPUT);

digitalWrite(trig,LOW);

delayMicroseconds(2);

digitalWrite(trig,HIGH);

delayMicroseconds(10);

pinMode(echo, INPUT);

return pulseIn(echo,HIGH,30000)/58.0;

}

void setup()

{

// Serial.begin(9600);

BT.begin(9600);

pinMode(SLeftLeft, INPUT);

pinMode(SMiddle, INPUT);

pinMode(SRightRight, INPUT);

pinMode(ena, OUTPUT);

pinMode(enb, OUTPUT);

pinMode(motorIn1, OUTPUT);

pinMode(motorIn2, OUTPUT);

pinMode(motorIn3, OUTPUT);

pinMode(motorIn4, OUTPUT);

//power=150;

lpower = 200;

rpower = 200;

flag = 1;

sw2 = 1;

sw = 1;

flag2 = 1;

}

void loop()

{

if(sw==0 && flag==0)

{

byteSensorStatus = 0; // 讀取感測器狀態值

SLL = digitalRead(SLeftLeft); // 讀取左感測器狀態值

if(SLL == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 2));

SM = digitalRead(SMiddle);

if(SM == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 1));

SRR = digitalRead(SRightRight); // 讀取右感測器狀態值

if(SRR == 1)

byteSensorStatus = (byteSensorStatus | 0x01);

drivemotor(byteSensorStatus);

}

if((((sw2)==(0))) & (((flag2)==(0)))){

if((getDistance(13,12)) < (15)){

backward();;

delay(1000*0.5);

if(((1)==(random(0,1)))){

left();

}else{

right();

}

delay(1000*0.5);

}

forward();

}

if(BT.available() ) {

val=BT.read();

switch(val)

{

case 'f': // car forward

forward();

break;

case 'b': // car backward

backward();

break;

case 'l': // car turn left

left();

break;

case 'r': // car turn right

right();

break;

case 's': // car stop

motorstop();

flag=1;

flag2 = 1;

break;

case 'q' :

if((lpower) < (255)){

lpower += 5;

}

break;

case 'w' :

if((lpower) < (255)){

lpower += 5;

}

if((rpower) < (255)){

rpower += 5;

}

break;

case 'e' :

if((rpower) < (255)){

rpower += 5;

}

break;

case 'z' :

if((lpower) > (0)){

lpower += -5;

}

break;

case 'x' :

if((rpower) > (0)){

lpower += -5;

}

if((rpower) > (0)){

rpower += -5;

}

break;

case 'c' :

if((rpower) > (0)){

rpower += -5;

}

break;

case 't' :

{

if(sw==0)

{

sw=1;

}

if(sw==1)

{

sw=0;

flag=0;

}

break;

case 'n' :

if(((sw2)==(0))){

sw2 = 1;

}

if(((sw2)==(1))){

sw2 = 0;

flag2 = 0;

}

break;

}

}

}

}

void motorstop()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,0);//0停止;值介於40-255

analogWrite(enb,0);//0停止;值介於40-255

}

void forward()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

void backward()

{

digitalWrite(motorIn1, HIGH);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, HIGH);

digitalWrite(motorIn4, LOW);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

// Let right motor keep running, but stop left motor

void right()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

// Let left motor keep running, but stop right motor

void left()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

void drivemotor(byte nStatus){

switch(nStatus)

{ // 感測器黑色:1 (亮紅燈） 白色:0

case 0: // SL:0 SR:0 //白白

forward() ;

break;

case 1: // SL:0 SR:1 // 白黑

left();

break;

case 2: // SL:0 SR:1 //黑白

motorstop();

break;

case 3: // SL:1 SR:1 // 黑黑

left();

break;

case 4: // SL:0 SR:1 // 白黑

right();

break;

case 5: // SL:0 SR:1 //黑白

forward() ;

break;

case 6: // SL:1 SR:1 // 黑黑

right();

break;

case 7: // SL:1 SR:1 // 黑黑

motorstop();

break;

}

}

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三路循跡&避障（紅色字的部分）

搭配 shsps_BT_car2的APP（左輪＋－、雙輪＋－、右輪＋－）

+LCD顯示左右速度(在Arduino上）

#include <SoftwareSerial.h>

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x3F,16,2);

SoftwareSerial BT(0,1); // 接收腳(RX), 傳送腳(TX)；接HC-06之TXD、RXD；先不要用0,1,因為USB用

const int SRightRight = 2; //右紅外線感測器輸入腳

const int SMiddle = 3; //中間感測器輸入腳

const int SLeftLeft = 4; //左紅外線感測器輸入腳

const int ena = 5; //控制馬達轉速（L298N）

const int enb = 6; //控制馬達轉速（L298N）

const int motorIn1 = 7; //控制馬達正反轉（L298N）

const int motorIn2 = 8; //控制馬達正反轉（L298N）

const int motorIn3 = 9; //控制馬達正反轉（L298N）

const int motorIn4 = 10; //控制馬達正反轉（L298N）

int SLL; //左感測器狀態

int SM; //中感測器狀態

int SRR; //右感測器狀態

char val; // variable to receive data from the serial port(bluetooth)

//int power; //馬達轉速 （0～255）

double rpower;

double lpower;

byte sw=1,flag=1;

byte sw2=1,flag2=1;

byte byteSensorStatus=0;

float getDistance(int trig,int echo){

pinMode(trig,OUTPUT);

digitalWrite(trig,LOW);

delayMicroseconds(2);

digitalWrite(trig,HIGH);

delayMicroseconds(10);

pinMode(echo, INPUT);

return pulseIn(echo,HIGH,30000)/58.0;

}

void setup()

{

// Serial.begin(9600);

BT.begin(9600);

pinMode(SLeftLeft, INPUT);

pinMode(SMiddle, INPUT);

pinMode(SRightRight, INPUT);

pinMode(ena, OUTPUT);

pinMode(enb, OUTPUT);

pinMode(motorIn1, OUTPUT);

pinMode(motorIn2, OUTPUT);

pinMode(motorIn3, OUTPUT);

pinMode(motorIn4, OUTPUT);

//power=150;

lpower = 200;

rpower = 200;

flag = 1;

sw2 = 1;

sw = 1;

flag2 = 1;

lcd.init();

lcd.backlight();

}

void loop()

{

lcd.clear();

lcd.print("Right: ");

lcd.print(rpower);

lcd.setCursor(1, 1);

lcd.print("Left: ");

lcd.print(lpower);

delay(100);

if(sw==0 && flag==0)

{

byteSensorStatus = 0; // 讀取感測器狀態值

SLL = digitalRead(SLeftLeft); // 讀取左感測器狀態值

if(SLL == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 2));

SM = digitalRead(SMiddle);

if(SM == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 1));

SRR = digitalRead(SRightRight); // 讀取右感測器狀態值

if(SRR == 1)

byteSensorStatus = (byteSensorStatus | 0x01);

drivemotor(byteSensorStatus);

}

if((((sw2)==(0))) & (((flag2)==(0)))){

if((getDistance(13,12)) < (15)){

backward();;

delay(1000*0.5);

if(((1)==(random(0,1)))){

left();

}else{

right();

}

delay(1000*0.5);

}

forward();

}

if(BT.available() ) {

val=BT.read();

switch(val)

{

case 'f': // car forward

forward();

break;

case 'b': // car backward

backward();

break;

case 'l': // car turn left

left();

break;

case 'r': // car turn right

right();

break;

case 's': // car stop

motorstop();

flag=1;

flag2 = 1;

break;

case 'q' :

if((lpower) < (255)){

lpower += 5;

}

break;

case 'w' :

if((lpower) < (255)){

lpower += 5;

}

if((rpower) < (255)){

rpower += 5;

}

break;

case 'e' :

if((rpower) < (255)){

rpower += 5;

}

break;

case 'z' :

if((lpower) > (0)){

lpower += -5;

}

break;

case 'x' :

if((rpower) > (0)){

lpower += -5;

}

if((rpower) > (0)){

rpower += -5;

}

break;

case 'c' :

if((rpower) > (0)){

rpower += -5;

}

break;

case 't' :

{

if(sw==0)

{

sw=1;

}

if(sw==1)

{

sw=0;

flag=0;

}

break;

case 'n' :

if(((sw2)==(0))){

sw2 = 1;

}

if(((sw2)==(1))){

sw2 = 0;

flag2 = 0;

}

break;

}

}

}

}

void motorstop()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,0);//0停止;值介於40-255

analogWrite(enb,0);//0停止;值介於40-255

}

void forward()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

void backward()

{

digitalWrite(motorIn1, HIGH);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, HIGH);

digitalWrite(motorIn4, LOW);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

// Let right motor keep running, but stop left motor

void right()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

// Let left motor keep running, but stop right motor

void left()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

void drivemotor(byte nStatus){

switch(nStatus)

{ // 感測器黑色:1 (亮紅燈） 白色:0

case 0: // SL:0 SR:0 //白白

forward() ;

break;

case 1: // SL:0 SR:1 // 白黑

left();

break;

case 2: // SL:0 SR:1 //黑白

motorstop();

break;

case 3: // SL:1 SR:1 // 黑黑

left();

break;

case 4: // SL:0 SR:1 // 白黑

right();

break;

case 5: // SL:0 SR:1 //黑白

forward() ;

break;

case 6: // SL:1 SR:1 // 黑黑

right();

break;

case 7: // SL:1 SR:1 // 黑黑

motorstop();

break;

}

}

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三路循跡&避障（紅色字的部分）

搭配 shsps_BT_car3的APP（左輪＋－、雙輪＋－、右輪＋－）

+LCD顯示左右輪速度(在Arduino上）

＋在手機上顯示左右輪速度 （最主要是紫色那兩行）

#include <SoftwareSerial.h>

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x3F,16,2);

SoftwareSerial BT(0,1); // 接收腳(RX), 傳送腳(TX)；接HC-06之TXD、RXD；先不要用0,1,因為USB用

const int SRightRight = 2; //右紅外線感測器輸入腳

const int SMiddle = 3; //中間感測器輸入腳

const int SLeftLeft = 4; //左紅外線感測器輸入腳

const int ena = 5; //控制馬達轉速（L298N）

const int enb = 6; //控制馬達轉速（L298N）

const int motorIn1 = 7; //控制馬達正反轉（L298N）

const int motorIn2 = 8; //控制馬達正反轉（L298N）

const int motorIn3 = 9; //控制馬達正反轉（L298N）

const int motorIn4 = 10; //控制馬達正反轉（L298N）

int SLL; //左感測器狀態

int SM; //中感測器狀態

int SRR; //右感測器狀態

char val; // variable to receive data from the serial port(bluetooth)

//int power; //馬達轉速 （0～255）

double rpower;

double lpower;

byte sw=1,flag=1;

byte sw2=1,flag2=1;

byte byteSensorStatus=0;

float getDistance(int trig,int echo){

pinMode(trig,OUTPUT);

digitalWrite(trig,LOW);

delayMicroseconds(2);

digitalWrite(trig,HIGH);

delayMicroseconds(10);

pinMode(echo, INPUT);

return pulseIn(echo,HIGH,30000)/58.0;

}

void setup()

{

// Serial.begin(9600);

BT.begin(9600);

pinMode(SLeftLeft, INPUT);

pinMode(SMiddle, INPUT);

pinMode(SRightRight, INPUT);

pinMode(ena, OUTPUT);

pinMode(enb, OUTPUT);

pinMode(motorIn1, OUTPUT);

pinMode(motorIn2, OUTPUT);

pinMode(motorIn3, OUTPUT);

pinMode(motorIn4, OUTPUT);

//power=150;

lpower = 200;

rpower = 200;

flag = 1;

sw2 = 1;

sw = 1;

flag2 = 1;

lcd.init();

lcd.backlight();

}

void loop()

{

BT.println((lpower*1000+rpower)/1000,3);

//因為一次只能傳一個值，所以將兩者整合，3是算到小數第3位）

delay(100);

lcd.clear();

lcd.print("Right: ");

lcd.print(rpower);

lcd.setCursor(1, 1);

lcd.print("Left: ");

lcd.print(lpower);

delay(100);

if(sw==0 && flag==0)

{

byteSensorStatus = 0; // 讀取感測器狀態值

SLL = digitalRead(SLeftLeft); // 讀取左感測器狀態值

if(SLL == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 2));

SM = digitalRead(SMiddle);

if(SM == 1)

byteSensorStatus = (byteSensorStatus | (0x01 << 1));

SRR = digitalRead(SRightRight); // 讀取右感測器狀態值

if(SRR == 1)

byteSensorStatus = (byteSensorStatus | 0x01);

drivemotor(byteSensorStatus);

}

if((((sw2)==(0))) & (((flag2)==(0)))){

if((getDistance(13,12)) < (15)){

backward();;

delay(1000*0.5);

if(((1)==(random(0,1)))){

left();

}else{

right();

}

delay(1000*0.5);

}

forward();

}

if(BT.available() ) {

val=BT.read();

switch(val)

{

case 'f': // car forward

forward();

break;

case 'b': // car backward

backward();

break;

case 'l': // car turn left

left();

break;

case 'r': // car turn right

right();

break;

case 's': // car stop

motorstop();

flag=1;

flag2 = 1;

break;

case 'q' :

if((lpower) < (255)){

lpower += 5;

}

break;

case 'w' :

if((lpower) < (255)){

lpower += 5;

}

if((rpower) < (255)){

rpower += 5;

}

break;

case 'e' :

if((rpower) < (255)){

rpower += 5;

}

break;

case 'z' :

if((lpower) > (0)){

lpower += -5;

}

break;

case 'x' :

if((rpower) > (0)){

lpower += -5;

}

if((rpower) > (0)){

rpower += -5;

}

break;

case 'c' :

if((rpower) > (0)){

rpower += -5;

}

break;

case 't' :

{

if(sw==0)

{

sw=1;

}

if(sw==1)

{

sw=0;

flag=0;

}

break;

case 'n' :

if(((sw2)==(0))){

sw2 = 1;

}

if(((sw2)==(1))){

sw2 = 0;

flag2 = 0;

}

break;

}

}

}

}

void motorstop()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,0);//0停止;值介於40-255

analogWrite(enb,0);//0停止;值介於40-255

}

void forward()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

void backward()

{

digitalWrite(motorIn1, HIGH);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, HIGH);

digitalWrite(motorIn4, LOW);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

// Let right motor keep running, but stop left motor

void right()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, LOW);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, HIGH);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

// Let left motor keep running, but stop right motor

void left()

{

digitalWrite(motorIn1, LOW);

digitalWrite(motorIn2, HIGH);

digitalWrite(motorIn3, LOW);

digitalWrite(motorIn4, LOW);

analogWrite(ena,rpower);//0停止;值介於40-255

analogWrite(enb,lpower);//0停止;值介於40-255

}

void drivemotor(byte nStatus){

switch(nStatus)

{ // 感測器黑色:1 (亮紅燈） 白色:0

case 0: // SL:0 SR:0 //白白

forward() ;

break;

case 1: // SL:0 SR:1 // 白黑

left();

break;

case 2: // SL:0 SR:1 //黑白

motorstop();

break;

case 3: // SL:1 SR:1 // 黑黑

left();

break;

case 4: // SL:0 SR:1 // 白黑

right();

break;

case 5: // SL:0 SR:1 //黑白

forward() ;

break;

case 6: // SL:1 SR:1 // 黑黑

right();

break;

case 7: // SL:1 SR:1 // 黑黑

motorstop();

break;

}

}

並將App Inventor 加上紅框那段程式